Developing A Hexapod Walking Machine

Abstract

This project deals with the walking machines. A brief history and the evolution of the walking machines which are classified based on their legs, different walking mechanisms exists out of which Theo Jansen’s walking mechanism was considered as it has single degree of freedom, walking mechanism is theoretically simple and efficient. Vigorous endeavours were encountered in applying the mechanism and toiled in enhancing various parameters to redefine the stability of the model and improving the total efficiency of the model using an optimization technique which is Genetic Algorithm.

The first part of this thesis deals with the basic introduction of the walking machines. Like the classification operation and advantages of the walking machines. The criteria’s for the adaption of Theo Jansen mechanism Over The Other mechanism are discussed. Secondly the problems encountered in the application of the mechanism to the prototype design, the implementation of the Genetic Algorithm and the code to optimize the mechanism were discussed with sample results are showcased. Thirdly Justification of the results that were obtained from the genetic algorithm is done using CAD software solid works. The various design parameters like the stresses developed due to various forces applied on the mechanism while walking are analyzed the stresses and strains on each link are evaluated Velocity and acceleration plots for each joint and legs are also plotted. A Prototype was developed to validate the Kinetic and kinematics models of the walking mechanism and the practical constraints that are encountered were discussed in the final part of the thesis. The thesis concludes by discussing the various aspects that need to be considered for the future prototypes based on the Theo Jansen mechanism and the core idea of building a scalable machine which can be used like a transport walking machine in rugged and harsh conditions.